JPH03280248A - Cassette carrier - Google Patents

Abstract

PURPOSE:To surely attain the centering of a cassette by counting a cassette carrying time, comparing the counted result with a reference time and controlling the drive of a cassette moving means. CONSTITUTION:The cassette carrier is provided with position detecting means S1 to S9 for detecting the position of a cassette and the driving of the cassette moving means 4 in one direction is controlled based upon the outputs of the means S1 to S9 to stop the cassette on a reference stop position. In addition, the carrier is provided with a control circuit 11 for counting the time required from the movement of the cassette from its stopped position after detecting the existence of the cassette on the reference stop position by the means S1 to S9 up to the detection of the existence of the cassette on the reference position by the means S1 to S9 and controlling the cassette moving time of the means 4 so as to shorten or prolong it based upon the preceding counted time as a reference. Since the excess or lacking movement of the preceding centering operation can be corrected, the current positioning can be surely approached to the centering position as compared with the preceding operation and the cassette can be surely stopped on a correct position.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention relates to a cassette transport device that transports cassettes by reciprocating between a storage shelf storing cassettes and a playback device such as a video tape recorder (VTR). .

[Summary of the Invention] The present invention provides a cassette conveying device which is provided with a position detection means for detecting the position of a cassette, and controls the driving of a cassette moving means based on the output of the position detection means to stop the cassette at a reference stop position. , detecting that the position detecting means is at the reference stop position of the cassette, moving the cassette from the position where the cassette stopped, and detecting that the position detecting means is at the reference stop position of the cassette again; By measuring the time taken to move the cassette by the cassette moving means and controlling the time taken to move the cassette by the cassette moving means based on the previous time as a reference, if the previous centering operation went too far, the previous time required is The cassette moving means is driven for a time shorter than this time as a reference, and if the previous centering operation stopped before the reference stop position, the cassette moving means is driven for a time longer than this time based on the previous required time. By driving it, it reliably approaches the centering position compared to the previous time, so by repeating this, it can reliably stop at the centering position.

[Prior Art] Cassette autochangers are used at television broadcasting stations and the like to automatically play back a plurality of tape cassettes in a predetermined order. This cassette autochanger is capable of reciprocating between the storage shelf where the cassette transport device receives the cassettes and the video tape recorder (VTR), as well as between the cassette transport device and the storage shelf and between the cassette transport device and the VTR. The cassette receiver is configured to automatically transfer the cassette. The cassette transport device that plays such a role has an X-direction insertion port for inserting the cassette from the X direction and a Y-direction insertion port for inserting the navigation cassette from the Y direction, which is perpendicular to the X direction. Cassettes are transferred between the storage shelf and the VTR using the Y-direction insertion slot. An X-direction moving means for moving the cassette inserted from the X-direction insertion port or the Y-direction insertion port in the X direction and a Y-direction movement means for moving the cassette in the Y direction, respectively,
The X-direction moving means and the Y-direction moving means are each configured as a heald drive mechanism, for example, and move the cassette by placing it on a belt. The belt of the Y-direction moving means is provided so as to be movable up and down between an up position higher than the belt position of the X-direction moving means and a down position lower than the belt position of the X-direction moving means.

Further, a position detecting means is provided for detecting whether the cassette is at a reference stop position in the X direction and the Y direction, and the navigation X direction moving means and the Y direction moving means are driven based on the output of the position detecting means. A control circuit is provided to control the.

To pick up a cassette from the storage shelf, the Y-direction moving means is set to the down position, and when the cassette enters the X-direction insertion slot, the X-direction moving means moves the cassette, and the output of the position detection means is set to the down position. and stop the cassette at the reference stop position.

To pick up a VTR cassette, set the X-direction moving means to the up position, and when the cassette enters from the Y-direction insertion slot,
The cassette is moved by the Y-direction moving means, and the cassette is stopped at a reference stop position by checking the output of the position detecting means.

However, the cassette is not always stopped accurately at the reference stop position, and if the cassette is not stopped at the reference stop position, the V
Ejection to the TR is not performed smoothly. Therefore, a centering operation is performed to accurately stop the cassette at a reference stop position, and a conventional example thereof is shown in FIGS. 13 and 14.

In FIG. 13, the cassette is moved in the {circle around (2)} direction or (2) direction by a belt drive mechanism 20. The belt drive mechanism has a motor (not shown), and the driving force of this motor is transmitted to the roller 21, and the rotational force of this roller 21 drives the belt 22.
is configured to move. The position detection means consists of two sensors, A sensor SA and B sensor SB, and A sensor SA and B sensor S8 are located slightly outward from both ends of the cassette when the cassette K is at the reference stop position. It is located in This A sensor sA and B sensor S
The output of s is directed to a control circuit (not shown) which executes the flowchart shown in FIG.

That is, assuming that the cassette K has stopped at a position slightly displaced in the {circle around (2)} direction from the reference stop position, the A sensor SA is closed. Then, the heald 22 is moved in the {circle around (2)} direction, the A sensor SA is opened, and the motor is stopped. Next, it is detected whether the B sensor SB is closed or not. If the B sensor S8 is open, it means that it has been centered, but if it is closed, the belt 22 is moved in the direction ■, and the B sensor SB is opened. Stop the motor at the position.

[Problems to be Solved by the Invention] However, the conventional centering means described above controls the stop position of the cassette by detecting the end of the cassette with the A sensor SA or the B sensor sB. The position and sensor position do not necessarily have a fixed relationship. That is, the cassette K may not reach the position where it is supposed to stop due to the backlash of the gear that rotates the roller 21 or the elongation of the belt 22, or because the belt 22 returns after stopping, etc. In some cases, there was a risk that the image would not be centered reliably. In particular, in order to accurately stop the cassette K at the centering position, ΔX + + ΔX shown in FIG.
It becomes noticeable when , is taken small.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a cassette transport device that can reliably center a cassette.

[Means for Solving the Problems] To solve the above problems, a cassette transporting device of the present invention is provided with a cassette moving means for moving a cassette in one direction, and the cassette transporting device is provided with a cassette moving means for moving a cassette in one direction, and the cassette transporting device determines whether the cassette is located at a reference stop position or not. In the cassette transport device, the position detecting means detects the position of the cassette, and controls the driving of the cassette moving means based on the output of the position detecting means to stop the cassette at a reference stop position. Detecting that the cassette is at the reference stop position, moving the cassette from the position where the cassette stopped, and measuring the time until the position detecting means detects that the cassette is at the reference stop position again. A control circuit is provided for controlling the moving time of the cassette by the cassette moving means to be shortened or extended based on the time of .

[Effect: If the previous centering operation went too far, the cassette moving means is driven in a time shorter than this time based on the previous required time, and if the previous centering operation stopped before the reference stop position. By driving the cassette moving means for a time longer than this time based on the previous required time as a reference, the centering position is more reliably approached compared to the previous time [Example] Hereinafter, an example of the present invention will be described using the drawings explain.

1 to 12 show one embodiment of the present invention.

Figure 1 shows a perspective view of the set conveyance device, and Figure 2 (2L)
2 shows a schematic side view of the cassette conveying device, and FIG. 2(b) shows a schematic plan view thereof. 1 to 2(b), X-direction insertion ports 2 are formed in both side surfaces 1a of the case 1, and a cassette is inserted into the X-direction insertion ports 2 from the X direction. . The X-direction insertion slot 2 is configured so that the largest size M cassette handled by this device can be inserted, and the X-direction insertion slot 2 can be used to transfer the cassettes to and from the storage shelf. It will be done. An X-direction insertion port 3 is formed in the front face portion 1b of the case 1, and the cassette + and Kt are inserted into the X-direction insertion port 3 from the X direction, which is perpendicular to the X direction. The X-direction insertion port 3 is configured so that the M cassette 1 can be inserted in the same way as the X-direction insertion port 2, and the cassette can be transferred to and from the VTR using the X-direction insertion port 3. It will be done. The cassette inserted into the case 1 through the X-direction insertion port 2 or the X-direction insertion port 3 is moved in the X-direction by the X-direction moving means 4, and
They are each moved in the X direction by the X direction moving means 5.

The X-direction moving means 4 is composed of belt drive mechanisms 4a divided into six and arranged on two strips, each belt drive mechanism 4
a is a single belt drive motor M (shown in Figure 7);
The X belt 4b is configured to move in the A direction or the B direction in synchronization with the driving force of the X belt 4b. The belt drive motor M1 is composed of a pulse motor. The X-direction moving means 5 is composed of belt drive mechanisms 5a that are divided into two and arranged on two strips, and each belt drive mechanism 5a is also synchronously moved by the driving force of the belt drive motor M. The Y belt 5b is configured to move in the direction or the D direction. Belt drive mechanism 4a of the X-direction moving means 4
is fixed, but the belt drive mechanism 5 of the Y direction moving means 5
a is vertically displaced by a heald elevating means (not shown).

This heald elevating means includes a Y heald elevating motor M, (seventh
As shown in the figure. ) is used to displace the Y belt 5b between the up position shown by the solid line in FIG. 2(a) and the down position shown by the two-dot chain line in FIG. 2(a). Depending on the positional displacement, the heald drive motor M1
The driving force is transmitted. It is configured to be higher than the height of the X-belt 4b of the X-direction moving means 4 in the up position, and lower than the height of the X-belt 4b of the X-direction moving means 4 in the down position.

Therefore, in the up position, the belt driving means 5a of the X-direction moving means 5 moves the cassettes K, , etc. in the Y direction, and in the down position, the belt driving means 4a of the X-direction moving means 4 moves the cassettes. , , are moved in the X direction.

Further, a position regulating member 6 is provided inside the rear surface part 1c inside the case l.
An M cassette guide member 7 is provided below the Y-direction insertion opening 3 on the front face lb side. The reference surface 6a of the position regulating member 6 and the guide surface 7b of the M cassette guide member 7 both extend in the X direction. Note that the position regulating member 6 and the M cassette guide member 7 are omitted in FIG.

The M cassette kite member 7 is located at a position where the Y-belt 5b of the Y-direction moving means 5 is slightly lower when in the up position, and higher when the Y-belt 5b is in the down position. Therefore, when the Y belt 5b of the X direction moving means 5 is in the up position, the movement of the Y belt 5b pulls + and Kt into the cassette inserted from the Y direction insertion opening 3 (in the C direction) or Y
Direction: Eject from insertion slot 3 into the cassette (direction D)
can. When the Y belt 5b of the X direction moving means 5 is in the down position, it guides the front side of the M cassette Kl at the reference stop position of the M cassette, and the rear side of the M cassette Kl is regulated by the reference surface 6 & of the position regulating member 6. (See Figure 6(a)). Also, S cassette! When the S cassette is inserted, the S
The rear side of the cassette is regulated by the reference surface 6a of the position regulating member 6 in the same way as the M cassette 1, or the front side of the S cassette is guided by the S cassette guide member 8 (see Fig. 5). a)). 1 or S in M cassette
The standard stop position for cassette-in is when the rear side of the M cassette-in or S cassette is in contact with the reference surface 6a of the position regulating member 6 over the entire area, and the position is at the center of the case 1 in the X direction. (See Fig. 6(b) and Fig. 5(b)).

The S cassette guide member 8 is connected to the S guide lifting motor M, (
It is shown in FIG. ) is used to move up and down between the up position shown by the solid line in FIG. 2(a) and the down position shown by the two-dot chain line in FIG. 2(a). In the up position, it is higher than the X belt 4b position of the X direction moving means 4, and can guide the front side of the S cassette as described above. In the down position, it is lower than the position of the X belt 4b of the X direction moving means 4, so that it does not become an obstacle to the movement of the M cassette, etc.

The position detection means is composed of nine position detection sensors S, -S9. Each of the position detection sensors S to S8 is composed of, for example, a light emitting part and a light receiving part that receives light from the light emitting part. , will turn off if not shut off. Position detection sensors S1 to S8 placed near both the X-direction insertion ports 2 and position detection sensors S4 placed near the Y-direction insertion port 3 detect cassette-in and cassette-out. A position detection sensor S, located near the position regulating member 6, detects whether or not there is a cassette K in the device. The three position detection sensors 53Ss and S- are connected to the S cassette when the S cassette 2 is at the standard stop position.
located slightly outward from both sides and the front end of the These three position detection sensors S3. All outputs are turned off when the S cassette is at the reference stop position, and these three position detection sensors S3,
55S6, it is possible to detect whether or not the S cassette is at the reference stop position. Two other position detection sensors! l;
t, S7 and the position detection sensor S4 are arranged at positions slightly outward from both side ends and the front end of the M cassette when the M cassette is at the reference stop position. These three position detection sensors S,,S.

S, all outputs are turned off when the M cassette is at the reference stop position, and these three position detection sensors S, , S, , S? It can be detected whether the M cassette K is at the reference stop position or not. The outputs of all these position detection sensors S, -S are supplied to a control circuit 11 as shown in FIG.

The control circuit 11 receives a command signal indicating that an M or S cassette is inserted from a storage shelf or VTR, or a command signal indicating that an M or S cassette is inserted into a storage shelf or VTR.

When a command signal indicating discharging is input manually, the belt driving motor M1, the S guide lifting motor M, and the belt lifting motor are activated via each motor drive circuit 12 based on the output of each position detection sensor 5t-Se. Drive and control M. The contents of this control are shown in FIGS. 8 to 12, and a specific explanation will be given in the section of the operation.

Further, the control circuit 11 has two counters and arithmetic means,
One counter counts the number of pulses output to the belt drive motor M1. The calculation means calculates the required time t from this count value and calculates 1=1±Δt. Another counter counts the number N in the flowchart.

The operation of the above configuration will be explained below.

When there is a command to insert an S cassette from the storage shelf side, the flowchart shown in FIG. 8 is executed.

That is, if the S cassette guide member 8 is in the up position, it is placed in the down position, and if the Y belt 5b of the Y direction moving means 5 is in the up position, it is placed in the down position. Into the S cassette from one X-direction insertion slot 2 (α direction in Fig. 2),
1 is inserted into the S cassette and the position detection sensor S1 is turned on, the belt drive motor M is driven and the
Move in direction A on b. When the output of the position detection sensor S8 is turned on, the belt drive motor M is stopped.

Then, the S cassette will be located at approximately the center position. Here, two position detection sensors S3. Centering operation is performed so that the outputs of Se are the same. This centering operation will be explained in detail below. The outputs of the two position detection sensors Ss and Ss are both off, and
If the output of the position detection sensor S5 is also off, the S guide is located at the reference stop position, so the S guide lifting motor M is driven.
Move the cassette guide 8 to the up position. S cassette K.

is located at the reference stop position j in a state in which it is positioned so as not to move in the Y direction by the S cassette guide 8 and the position regulating member 6 (see FIGS. 5(a) and 5(b)). In addition, two position detection sensors S3. If both SII outputs are on, the S cassette K is activated as shown in Figures 4(a) and 4(c).
t is tilted and the outputs of the two position detection sensors S, , S are both OFF, but if the output of the position detection sensor S5 is ON, then Fig. 4(a) and Fig. 4(b) As shown in the figure, the S cassette is inclined. In this case, the Y belt 5 of the Y moving means 5 is driven by driving the belt lifting motor M1.
b is set to the up position, and the belt drive motor M is driven to move the Y belt 5b in the C direction.

Then, the S cassette rotates so that its rear side follows the reference surface 6a of the position regulating member 6, so that the inclination of the S cassette 2 is eliminated. Then, the output of the position detection sensor S5 is turned off, and one second after the output is turned off, the belt drive motor M1 is not driven as it is, but the Y heald lifting motor M is driven, and the Y bell of the Y direction moving means 5 is driven. )5b
is set to the down position, and the heald drive motor M1 is stopped when set to the down position. In this way, move the Y belt 5b to C
By lowering the Y belt 5b without moving it in the direction, it is possible to prevent the S cassette from tilting during the lowering process of the Y belt 5b. Next, the process returns to the centering operation described above. This time, since S cassette 2 is generally in the correct posture and not tilted, it is centered in the X direction by the centering operation, so the three position detection sensors S3. Ss and Se are all turned off, and the S cassette guide member 8 is placed in the up position, and the process ends. If the reference stop position is not reached even after performing the above-mentioned tilt regulation and centering loop three times, an error occurs, and the operation is stopped and an error is displayed.

When there is a command from the VTR side to insert cassette 2 into the S cassette, the flowchart shown in FIG. 9 is executed.

That is, if the S cassette guide member 8 is in the up position, it is placed in the down position, and if the Y belt 5b of the Y direction moving means 5 is in the down position, it is placed in the up position. S cassette K from Y direction insertion slot 3.

When the S cassette K is inserted and the position detection sensor S4 is turned on, the belt drive motor M is driven.

moves in the C direction on the X belt 5b (see FIGS. 3(a) and 3(b)). Then, S cassette K.

Even if the rear side surface of the S cassette Kt contacts the reference surface 6a of the position regulating member 6 and the S cassette Kt contacts the reference surface 6a in an inclined state, the rear surface of the S cassette Kt does not touch the reference surface 6a of the position regulating member 6 as described above. The S cassette is rotated so that it follows the surface 6a, the inclination is eliminated, and the rear surface of the S cassette is aligned with the reference surface 6 of the position regulating member 6.
It abuts over the entire part a. Then, the position detection sensor S
The output of No. 5 is switched off, and when it is turned off, the process enters point (2) in the flowchart shown in FIG. 8, and the S cassette is positioned at the reference stop position in the same manner as described above.

When there is a command to insert an M cassette from the storage shelf side, the flowchart shown in FIG. 10 is executed.

That is, if the S cassette guide member 8 is in the up position, it is placed in the down position, and if the Y belt 5b of the Y direction moving means 5 is in the up position, it is placed in the down position. 1 into the M cassette from one X direction insertion slot 2 (α direction in Figure 2).
is inserted and the position detection sensor Sl is turned on, the belt drive motor M.

is driven to move the M cassette in six directions on the X belt 4b. Since the M cassette moves while its front and rear sides are guided by the M cassette guy 1 member 7 and the position regulating member 6, respectively, the M cassette 1 does not tilt during movement. When the output of the position detection sensor S7 is turned on, the belt drive motor M is stopped. The M cassette M1 is located approximately at the center position. Here, the following centering operation is performed so that the outputs of the two position detection sensors S, S, are the same, and the M cassette is prevented from moving in the Y direction by the M cassette guy 1 member 7 and the position regulating member 6. In this position, it is located at the standard stop position (see FIGS. 6(a) and 6(b)).

When there is a command from the VTR side to insert an M cassette, the flowchart shown in FIG. 11 is executed.

That is, if the S cassette guide member 8 is in the up position, it is moved to the down position, and if the Y belt 4b of the Y direction moving means 4 is in the down position, it is moved to the up position. The M cassette K is inserted from the Y-direction insertion port 3, and the position detection sensor S
When 4 is turned on, the belt drive motor M1 is driven to move the M cassette 1 on the X belt 5b in the C direction.

Then, the rear side of the M cassette 1 comes into contact with the reference surface 6+L of the position regulating member 6, and even if the M cassette comes into contact with the reference surface 6a in an inclined state, the rear side of the M cassette comes into contact with the reference surface 6+L. 6a, the inclination is eliminated, and the rear surface of 1 contacts the M cassette over the entire reference surface 6a of the position regulating member 6. Then, the front end portion of the M cassette also enters inside the M cassette guy 1 member 7, and the output of the position detection sensor S4 is turned off. When the output of the position detection sensor S4 is turned off, the belt lifting motor M is driven while the belt driving motor M1 is driven as it is, and the Y bell (4b) of the Y direction moving means 4 is moved to the down position. At the point when the belt drive motor M1
stop. As the Y belt 5b descends, the M cassette is
The M cassette is lowered until it rests on the X heald 4b, and its front and rear surfaces are positioned by the M cassette guy 1 member 7 and the position regulating member 6, respectively. In this state, the following centering operation is performed, and the M cassette is positioned at the reference stop position.

The centering operation for the S cassette is performed by executing the flowchart shown in FIG. That is,
When the S cassette is stopped at the position shown in FIG. 5(c), the output of the position detection sensor S8 is turned on, and the belt drive motor M is driven to move the X belt 4b in the B direction. , the belt drive motor M is stopped when the output of the position detection sensor S8 is turned off. Then, the number of pulses output from the belt drive motor M from start to stop is counted, and the required time (1) is calculated from this count value. On the other hand, the output of the position detection sensor SB is checked again after a predetermined period of time has elapsed since the belt drive motor M1 was stopped.

If the output of the position detection sensor Sll is on, the S cassette has a
Since it can be considered that the belt has returned to the same direction, [(previous required time) + Δt (minute time) t is calculated, and the belt drive motor M is operated for the time.

to move the X belt 4b in the A direction. In addition, if the output of the position detection sensor S8 is off but the output of the position detection sensor S is on, the S cassette may be damaged in the B direction due to backlash of the drive system gears, elongation of the X belt 4b, etc. Since it can be considered that the time has gone too far, calculate t (previous required time) - Δt (minute time) - 1, drive the belt drive motor M1 for the time , and drive the X belt 4b.
Move in direction B. In this way, the previous required time (
If you return based on 1), the previous time required (1)
Since the driving time of the belt drive motor M is the time obtained by adding a small amount of time to , or subtracting a small amount of time from the previous required time (1) if the time is exceeded, the drive time of the belt drive motor M is set as the drive time of the belt drive motor M. This is the travel time of the X belt 4b, which takes into account the return of the X belt 4b, backlash of the gear, excessive elongation of the X belt 4b, etc. Therefore, the S cassette will surely approach the centering position at least more than the previous stop position. Then, it is located at a centering position where the outputs of the two position detection sensors Ss and Si are both turned off (see FIG. 5(b)).

Further, when the S cassette is stopped at the position shown in FIG. 5(d), the output of the position detection sensor S6 is off,
The output of the position detection sensor S3 is turned on. In this case, the X belt 4b is moved in the direction A opposite to that described above, and the belt drive motor M is stopped when the output of the position detection sensor S3 turns off, and the number of pulses during this period is counted. Basically, the same operation as described above is performed to locate the centering position. Although the flowchart in FIG. 12 only shows the centering of the S cassette, the centering of the M cassette 1 is performed by changing the position detection sensor S6 to the position detection sensor S7, and the position detection sensor S3 to the position detection sensor S. The same thing can be done by substituting , respectively.

In this embodiment, both the X-direction moving means 4 and the Y-direction moving means 5 are constituted by belt drive mechanisms 4a and 4b.
1 on the cassette. It may be any mechanism that can move Kt in the X direction or the Y direction, and is not limited to the belt drive mechanisms 4a and 4b. Further, although this embodiment shows an example in which only two sizes of M cassette 1 and S cassette are used, the present invention can be applied in substantially the same way even when cassettes of two or more sizes are used.

[Effects of the Invention] As described above, according to the present invention, a position detecting means for detecting the position of the cassette is provided, and the drive of the cassette moving means is controlled based on the output of the position detecting means to bring the cassette to a reference stop. In a cassette transport device that stops at a certain position,
The position detecting means detects that the cassette is at the standard stop position, moves the cassette from the position where the cassette stopped, until the position detecting means detects that the cassette is at the standard stop position again. The time taken for the cassette by the cassette moving means was controlled to be shortened or extended based on the previous time, so if the previous centering operation went too far, the previous time was used as the reference. If the previous centering operation stopped before the reference stop position, the cassette moving means is driven for a time shorter than this time, or for a time longer than this time based on the previous required time as a reference, compared to the previous time. Since it reliably approaches the centering position, by repeating this process, it is possible to reliably stop at the centering position.

[Brief explanation of the drawing]

1 to 12 show embodiments of the present invention, in which FIG. 1 is a perspective view of a cassette conveying device, FIG. 2(a), and FIG. 3(a).
), FIG. 4(a), FIG. 5(a) and FIG. 6(a) are respectively schematic side views of the cassette conveying device, FIG. 2(b),
Figure 3(b), Figures 4(b) and (C), Figures 5(b) to (d), and Figure 6(b) are schematic plan views of the cassette transport device, respectively, and Figure 7 is a circuit block. Figure 8 is a flowchart diagram for inserting the S cassette from the storage shelf side,
Figure 9 is a flowchart for inserting an S cassette from the VTR side, Figure 10 is a flowchart for inserting an M cassette from the storage shelf, and Figure 1I is a flowchart for inserting an M cassette from the VTR side. 1. 1st
FIG. 2 is a flowchart of the centering operation of the S cassette, and FIGS. 13 and 14 show conventional examples;
FIG. 3 is a schematic diagram of the cassette conveying device, and FIG. 14 is a flowchart of centering. 4...X direction moving means (cassette moving means), 11.
...control circuit, S1-S, ...position detection sensor (position detection means), K, ...cassette. In the flowchart in Figure 8, ■I use the VTR's power to control the power of the system and the pigeon house.↑
Yard diagram: Figure 9: Close-in T-co loading scheme diagram: Figure 10: Figure 11: Power/Soft conveyance equipment: 1. IBI map (Isa East) 1st
Figure 3

Claims (1)

[Claims] (1) A cassette moving means for moving the cassette in one direction is provided, a position detecting means is provided for detecting whether or not the cassette is located at a reference stop position, and the cassette is moved based on the output of the position detecting means. In a cassette conveying device that controls driving of a means to stop the cassette at a reference stop position, the position detection means detects that the cassette is at the reference stop position and moves the cassette from the position where the cassette is stopped. Then, the time taken until the position detecting means detects that the cassette is at the reference stop position is measured again, and the time taken for the cassette to be moved by the cassette moving means is shortened or extended based on the previous time. A cassette transport device characterized by being provided with a control circuit for controlling the cassette.